Need help adjusting gaits plz

[onesandzeros]

hello everyone.
today i tried to load the improved walk gait to see how my khr-1 would walk on it.
he does walk at all, well he attempts, but the walk doesnt even look like a walk
and he does like one move, then another, not synched at all.
i adjusted the trim to be as straight at 90 degrees as possible( at 90 degrees ) on the initial position.

if i teach the robot, he werks fine, just i cant use these great gaits that already exist..
any help will be most appreciated

thanks in advance

[tempusmaster]

hello everyone.
today i tried to load the improved walk gait to see how my khr-1 would walk on it.
he does walk at all, well he attempts, but the walk doesnt even look like a walk
and he does like one move, then another, not synched at all.
i adjusted the trim to be as straight at 90 degrees as possible( at 90 degrees ) on the initial position.

if i teach the robot, he werks fine, just i cant use these great gaits that already exist..
any help will be most appreciated

thanks in advance

It's hard to tell exactly from your description, but it sounds like you need to redo the home position setup. Can you post some photos, especially of the home position (direct on, front and side), and a video clip or two?

Also which 'improved walk gait" are you trying? The motion file name, or url if you downloaded it, would help a lot.

[onesandzeros]

hey tempusmaster
thanks alot for your reply.
I think i didnt understand the the home position correctly.
( i read some sight that said the home position doesnt matter, how ever, if iam using a someone elses gait, i suppose my home position would have to be as identical as possible.

iam charging my battery now, and iw ill try with my hom eposition adjusted like the manual so the weight isnt on the back...

previously i had set my home position in the initial pose, all servos at 90 degree.

I clearly misunderstood the nececity of the home position

[onesandzeros]

ok i tried to play with the home position with no luck
i took some pics of the home position




the gait i was trying was from http://robosavvy.com/Support/6
KHR-1 Improved Forward Walk --- the last one on the page
http://kondo-robot.com/AppData/KHR1MOTION1.EXE

[onesandzeros]

oh yea, and iam trying to get a video of how it reacts
illpost it once i get it

[tempusmaster]

oh yea, and iam trying to get a video of how it reacts
illpost it once i get it

The home position is primarily a reference point.
It's very useful, even critical, if you want to use
gaits that were created by other users. That being
said, it's not a good or natural position for walking
(or fighting).

Looking at your photos, it appears that you need
to realign the leg servo positions. They appear to
be closer to what the KHR-1 manual calls the
'initial position' rather than the 'home position'.
Here's what I'm seeing from your photos:



and here's the relevant diagram from the KHR-1 manual:



It's a little hard to setup the alignment visually when
you're working on the robot, so I use a little plumb
line - just a small weight on a string. That gives a good
reference to make sure you have everything straight.

It's also not obvious from the manual diagram,
at least it took me a while to figure it out, but the robot in
the diagram is actually facing to the left of the page. It's
natural for the Japanese, but exactly the opposite of what
Westerners would expect and assume.

It fooled me for a while.

I suspect that your COG is too far to the front so that your
robot tends to fall forward when you try that gait, but
I could be wrong.

Your camera mod looks interesting. Have you posted anything
about it before (forgive me if I overlooked it)? I'd like to
try something similar.

[onesandzeros]

hey tempusmaster, once again thansk alot for the most helpfull replies.
The diagrams u included here, makes more sense to have the robot straight.
i will try and adjust it with the string idea u have suggested, i didnt realise it was so not in a straight line

the camera i was just messing around with.
it is a logitech sphere camara, i removed the shell around it.
i was originally going to try and make it pan and tilt while using the small motors that originally came with it to allow face tracking. iam still trying to make a contraption that will make this possible witht he least amount of space used up..

i havent done much more

ill post some pictures of the motors for the pan and tilt just incase it might be of some use to someone else.

i only just have it power directly thru a usb cable.


Iam goignt o try and starighten that line running thru the servos, and see how this dude will react now..

[onesandzeros]

here is the picture of the camera and motor.
i took the picture nect tot he hand to show size comparison